diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 12bb4c1..cdb9911 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -46,9 +46,7 @@ public class Constants {
     public static int guideurhaut = 4;
     public static int guideurbas = 5;
     public static int photocellacc = 2;
-    public static int limithaut = 4;
-    public static int limitbas = 5;
 
     //piston
-    public static int pistondroiteouvre= 6;
+    public static int pistondroiteouvre= 7;
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d89e6a4..869a55e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -27,6 +27,7 @@ import frc.robot.command.GrimpeurGauche;
 import frc.robot.command.GuiderBas;
 import frc.robot.command.GuiderHaut;
 import frc.robot.command.Lancer;
+import frc.robot.command.LancerAmp;
 import frc.robot.command.LancerNote;
 import frc.robot.command.Lancerampli;
 import frc.robot.command.Limelight_tracker;
@@ -79,8 +80,10 @@ public class RobotContainer {
     CameraServer.startAutomaticCapture();
     manette.a().whileTrue(new GuiderBas(guideur));
     manette.b().whileTrue(new GuiderHaut(guideur));
+    manette.x().whileTrue(new PistonFerme(grimpeur));
     joystick.button(3).whileTrue(balayer);
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
+    joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
     joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
     joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));
     
diff --git a/src/main/java/frc/robot/command/GrimpeurDroit.java b/src/main/java/frc/robot/command/GrimpeurDroit.java
index 162d692..cb53ba4 100644
--- a/src/main/java/frc/robot/command/GrimpeurDroit.java
+++ b/src/main/java/frc/robot/command/GrimpeurDroit.java
@@ -24,16 +24,14 @@ public class GrimpeurDroit extends Command {
   @Override
   public void initialize() {
     grimpeur.resetencodeurd();
-    grimpeur.pistonferme();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     grimpeur.droit(doubleSupplier.getAsDouble());
-  if(grimpeur.encoderd()>78){
-    grimpeur.droit(0);
-    
+  if(grimpeur.encoderd()<73){
+    grimpeur.droit(doubleSupplier.getAsDouble());
   }
   else if(grimpeur.getpitch()<-15){
     grimpeur.droit(-doubleSupplier.getAsDouble());
diff --git a/src/main/java/frc/robot/command/GrimpeurGauche.java b/src/main/java/frc/robot/command/GrimpeurGauche.java
index ea9d860..df8891e 100644
--- a/src/main/java/frc/robot/command/GrimpeurGauche.java
+++ b/src/main/java/frc/robot/command/GrimpeurGauche.java
@@ -23,17 +23,17 @@ public class GrimpeurGauche extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    grimpeur.resetencodeurd();
     grimpeur.resetencodeurg();
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     grimpeur.gauche(doubleSupplier.getAsDouble());
-    if(grimpeur.encoderg()>73){
-      grimpeur.gauche(0);
-    }
+    if(grimpeur.encoderg()<78){
+      grimpeur.gauche(doubleSupplier.getAsDouble());
+     }
     else if(grimpeur.getpitch()<-15){
       grimpeur.gauche(doubleSupplier.getAsDouble());
     }
@@ -43,10 +43,12 @@ public class GrimpeurGauche extends Command {
     else{
       grimpeur.gauche(0);
     }
-    if(grimpeur.encoderd()>0){
+    if(grimpeur.encoderg()<0){
+      grimpeur.gauche(doubleSupplier.getAsDouble());
+    }
+    else{
       grimpeur.resetencodeurg();
       grimpeur.gauche(0);
-      
     }
   }
 
diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java
new file mode 100644
index 0000000..0392f21
--- /dev/null
+++ b/src/main/java/frc/robot/command/LancerAmp.java
@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Lanceur;
+
+public class LancerAmp extends Command {
+  private Lanceur lancer;
+  private Accumulateur accumulateur;
+  /** Creates a new LancerNote. */
+  public LancerAmp(Lanceur lancer, Accumulateur accumulateur) {
+    this.lancer = lancer;
+    this.accumulateur = accumulateur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize(){}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double vitesse = 0.1;
+    lancer.lanceramp();
+    if(lancer.vitesse(vitesse)>vitesse){
+      accumulateur.Accumuler();
+    }
+    else{
+      accumulateur.Accumuler(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lancer.lancer(0);
+    accumulateur.Accumuler(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/LancerNote.java b/src/main/java/frc/robot/command/LancerNote.java
index 8cc3a4a..1c32ce5 100644
--- a/src/main/java/frc/robot/command/LancerNote.java
+++ b/src/main/java/frc/robot/command/LancerNote.java
@@ -26,7 +26,7 @@ public class LancerNote extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.5;
+    double vitesse = 0.8;
     lancer.lancerspeaker();
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler();
@@ -39,7 +39,7 @@ public class LancerNote extends Command {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lancer.vitesse(0);
+    lancer.lancer(0);
     accumulateur.Accumuler(0);
   }
 
diff --git a/src/main/java/frc/robot/command/PistonFerme.java b/src/main/java/frc/robot/command/PistonFerme.java
index b4ef3fd..c072790 100644
--- a/src/main/java/frc/robot/command/PistonFerme.java
+++ b/src/main/java/frc/robot/command/PistonFerme.java
@@ -19,7 +19,7 @@ public class PistonFerme extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    grimpeur.pistonferme();
+    grimpeur.pistonouvre();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -28,7 +28,9 @@ public class PistonFerme extends Command {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    grimpeur.pistonferme();
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 11c5d3c..00d56b7 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -26,13 +26,7 @@ public class Accumulateur extends SubsystemBase {
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
   final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);
     
-  public void Deaccumuler(double vitesse){  
-    Moteuracc2.set(-vitesse);
-    Moteuracc.set(-vitesse);
-  }
-  public void moteuraccfollow(){
-    
-  }
+  
   public boolean limitswitch(){
     return photocellacc.get();
   }
@@ -41,8 +35,8 @@ public class Accumulateur extends SubsystemBase {
     dashboard.addBoolean("limitacc", this::limitswitch);
   }
   public void Accumuler(double vitesse){
-    Moteuracc.set(vitesse);
-    Moteuracc2.set(vitesse);
+    Moteuracc.set(-vitesse);
+    Moteuracc2.set(-vitesse);
   }
   public void Accumuler(){
     Accumuler(vitesse.getDouble(0.3));
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 045a1be..e16af68 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase {
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
-  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre);
+  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroiteouvre);
   //fonction
   public Grimpeur() {
     pistonouvre();
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index bd4f7fc..7730b2b 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -16,12 +16,12 @@ public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
-      dashboard.add("vitesse", 0.5)
+      dashboard.add("vitesse", 0.8)
       .withSize(1, 1)
       .withPosition(3, 3)
          .getEntry();
          private GenericEntry vitesseamp =
-            dashboard.add("vitesseamp", 0.4)
+            dashboard.add("vitesseamp", 0.1)
             .withSize(1, 1)
             .withPosition(3, 4)
                .getEntry();
@@ -42,13 +42,13 @@ public class Lanceur extends SubsystemBase {
     lanceur4.set(-vitesse);
   }
   public void lancerspeaker(){
-    lancer(vitesse.getDouble(0.5));
+    lancer(vitesse.getDouble(0.8));
   }
   public void lanceramp(){
-    lancer(vitesseamp.getDouble(0.4));
+    lancer(vitesseamp.getDouble(0.1));
   }
   public double vitesse(double vitesse){
-    return lanceur1.getEncoder().getVelocity();
+    return lanceur3.getEncoder().getVelocity();
   }
     public void lanceur(){